Robot control method and device

The invention provides a control method of a robot. The control method comprises the following steps: establishing a simulation model of the robot and a working environment of the robot; receiving setting of a working area and a working posture range of an end effector of the robot by a user in the simulation model; and controlling the robot to move according to the motion control command of the user, wherein the end effector of the robot is limited in the working area and the working posture range. 本发明提供一种机器人的控制方法，所述控制方法包括：建立所述机器人和所述机器人的工作环境的仿真模型；接收用户在所述仿真模型中对所述机器人的末端执行器的工作区域和工作姿态范围的设置；根据所述用户的运动控制命令控制所述机器人运动，所述机器人的所述末端执行器限定在所述工作区域内和所述工作姿态范围内。